CN103015471B - Self-adjusting controllable mechanism-type micro MDOF (multiple degrees of freedom) loading mechanism - Google Patents
Self-adjusting controllable mechanism-type micro MDOF (multiple degrees of freedom) loading mechanism Download PDFInfo
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- CN103015471B CN103015471B CN201210583000.XA CN201210583000A CN103015471B CN 103015471 B CN103015471 B CN 103015471B CN 201210583000 A CN201210583000 A CN 201210583000A CN 103015471 B CN103015471 B CN 103015471B
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Abstract
The invention relates to a self-adjusting controllable mechanism-type micro MDOF (multiple degrees of freedom) loading mechanism which comprises a rack, a movable arm, a bucket turnover branching chain, a movable arm lifting branching chain and a bucket. The movable arm is hinged on the rack; the other end of the movable arm is hinged with the bucket; the bucket turnover branching chain is driven by a servo motor to control to turn over the bucket; and the movable arm lifting branching chain controls to life and descend the movable arm under the drive of the servo motor and is matched with the bucket turnover branching chain to complete loading operation. The controllable loading mechanism is driven by the servo motor arranged on the rack; a working device is easy to realize automatic and numerical control; the mechanism has a simpler structure, is lower in cost, has high bearing capacity, is more suitable for manufacturing a small-scale micro loader and avoids the defects of high manufacturing cost of a hydraulic element, complexity for maintenance and the like of a hydraulic loader; and meanwhile, compared with other controllable loading mechanisms, due to the adoption of a beam design, the self-adjusting controllable mechanism-type micro MDOF loading mechanism avoids jamming and rigid damage which are generated due to desynchrony when two servo motors simultaneously drive the movable arm.
Description
Technical field
The present invention relates to engineering machinery field, particularly the miniature multiple degrees of freedom loader mechanism of a kind of self-adjustable controllable-mechanism type.
Background technology
Loader is a kind of restoration in earth-rock construction machinery being widely used in the construction projects such as highway, railway, building, water power, and it is mainly used in loose unpacked material such as shovel dress soil, sandstone etc., also can make slight shovel to ore, pan soil etc. and dig operation.Hydraulic loader is a most widely used class loader, but hydraulic system maintenance maintenance is complicated, and cost is high, and hydraulic system is subject to such environmental effects, especially under low temperature or hot environment, easily occurs the situations such as unable or vibration.Controllable-mechanism type elevating conveyor, hydraulic drive is instead of with linkage, when driving lever is by driven by servomotor, easily realize automation, NC postprocessing controls, although solve the some shortcomings that hydraulic system exists, but drive owing to adopting motor, often there is moment of torsion too small, the problems such as work requirements cannot be met, in order to improve moment of torsion, simultaneously general solution adopts several motors to drive same driving lever, but when servomotor drives simultaneously, owing to there is various error, often be difficult to synchronous, when several motors drive a driving lever simultaneously, stuck and the hard breakdown of easy appearance, have impact on the overall performance of whole loader mechanism.
Micro loading machine is widely used in agricultural production, small-sized work progress because of its maneuverability, micro loading machine due to supporting capacity little, link transmission required torque is less, therefore, higher by the controlled micro loading machine practicality of driven by servomotor.
Summary of the invention
The object of the invention is to prior art Problems existing provides a kind of self-adjustable controllable-mechanism type miniature multiple degrees of freedom loader mechanism, under guarantee meets traditional micro loading machine job requirements and the simple prerequisite of linkage structure, this loader mechanism is made to have connecting rod number few, cost is low, supporting capacity is large, volume is little, high reliability, the stuck and hard breakdown phenomenon two motors simultaneously will being avoided to drive occur during same driving lever.
The present invention achieves the above object by the following technical programs:
The miniature multiple degrees of freedom loader mechanism of a kind of self-adjustable controllable-mechanism type comprises frame, swing arm, scraper bowl upset side chain, swing arm lifting side chain, scraper bowl.
Described swing arm one end is arranged in frame by the 8th revolute pair, the 9th revolute pair, and the other end is connected with scraper bowl by the 14 revolute pair, the 13 revolute pair.
Described scraper bowl upset side chain is made up of the first driving lever, third connecting rod, described first driving lever one end is connected with frame by the tenth revolute pair, the other end is connected with third connecting rod one end by the 11 revolute pair, and the third connecting rod other end is connected with scraper bowl by the 12 revolute pair.First driving lever is by rack-mounted driven by servomotor.
Described swing arm lifting side chain is made up of the second driving lever, the 3rd driving lever, first connecting rod, second connecting rod, crossbeam, second driving lever one end is connected in frame by the first revolute pair, the other end is connected with first connecting rod one end by the second revolute pair, the first connecting rod other end is connected with crossbeam by the 3rd revolute pair, 3rd driving lever one end is connected with frame by the 5th revolute pair, the other end is connected with second connecting rod one end by the 6th revolute pair, the second connecting rod other end is connected with crossbeam by the 7th revolute pair, and crossbeam is connected on swing arm by the 4th revolute pair.Second driving lever, the 3rd driving lever are by rack-mounted driven by servomotor.
Described a kind of self-adjustable controllable-mechanism type miniature multiple degrees of freedom loader mechanism second driving lever, the 3rd driving lever velocity of rotation can require independent adjustment within the specific limits according to specific works, and scraper bowl overturns side chain, swing arm lifting side chain has cooperatively interacted loading operation.
Outstanding advantages of the present invention is:
1, under guarantee meets the prerequisite of the simple job requirements of traditional micro loading machine, adopt brand-new Designing Linkages, decrease connecting rod usage quantity, reduce cost, simultaneously because structure is simple, improve reliability.
2, owing to adding beam design, allow the existence of servomotor kinematic error to a certain extent, and be unlikely to the hard breakdown causing motor and connecting rod, thus improve reliability, improve the mechanical property of loader mechanism, while raising moment of torsion.
3, this self-adjustable controllable-mechanism type miniature multiple degrees of freedom loader mechanism adopts link transmission to instead of traditional hydraulic drive, not only reduce manufacturing cost, be easy to maintaining simultaneously, avoid the adverse effect of the environmental factors such as temperature to hydraulic work system, because each driving lever is driven by servomotor, easily to be automated, NC postprocessing.
4, due to micro loading machine because supporting capacity is little, link transmission required torque is relatively little, because swing arm is driven by two swing arm, this kind of loader mechanism practicality is higher, can be widely used in agricultural production, small-sized work progress, simultaneously because each driving lever is by driven by servomotor, there is good flexibility, reaction speed is fast, has broad prospect of application.
Accompanying drawing explanation
Fig. 1 is a kind of self-adjustable controllable-mechanism type of the present invention miniature multiple degrees of freedom loader mechanism schematic diagram.
Fig. 2 is a kind of self-adjustable controllable-mechanism type of the present invention miniature multiple degrees of freedom loader mechanism swing arm front view.
Fig. 3 is a kind of self-adjustable controllable-mechanism type of the present invention miniature multiple degrees of freedom loader mechanism scraper bowl schematic diagram.
Fig. 4 is a kind of self-adjustable controllable-mechanism type of the present invention miniature multiple degrees of freedom loader mechanism scraper bowl upset side chain schematic diagram.
Fig. 5 is a kind of self-adjustable controllable-mechanism type of the present invention miniature multiple degrees of freedom loader mechanism lateral view.
Fig. 6 is a kind of self-adjustable controllable-mechanism type of the present invention miniature multiple degrees of freedom loader mechanism crossbeam schematic diagram.
Fig. 7 is a kind of self-adjustable controllable-mechanism type of the present invention miniature multiple degrees of freedom loader mechanism swing arm lifting side chain schematic diagram.
Fig. 8 is a kind of self-adjustable controllable-mechanism type of the present invention miniature multiple degrees of freedom loader mechanism floor map.
Detailed description of the invention
Below by way of accompanying drawing, technical scheme of the present invention is described further.
Contrast Fig. 1, the miniature multiple degrees of freedom loader mechanism of a kind of self-adjustable controllable-mechanism type comprises frame 1, swing arm 14, scraper bowl upset side chain, swing arm lifting side chain, scraper bowl 21.
Contrast Fig. 1, Fig. 2, Fig. 3, described swing arm 14 one end is arranged in frame 1 by the 8th revolute pair 13, the 9th revolute pair 20, and the other end is connected with scraper bowl 21 by the 14 revolute pair the 23, the 13 revolute pair 22.
Contrast Fig. 1, Fig. 4, described scraper bowl upset side chain is made up of the first driving lever 15, third connecting rod 17, described first driving lever 15 one end is connected with frame 1 by the tenth revolute pair 24, the other end is connected with third connecting rod 17 one end by the 11 revolute pair 16, and third connecting rod 17 other end is connected with scraper bowl 21 by the 12 revolute pair 18.First driving lever 15 is by the driven by servomotor be arranged in frame 1.
Contrast Fig. 1, Fig. 5, Fig. 6, Fig. 7, described swing arm lifting side chain is by the second driving lever 3, 3rd driving lever 9, first connecting rod 5, second connecting rod 11, crossbeam 7 forms, second driving lever 3 one end is connected in frame 1 by the first revolute pair 2, the other end is connected with first connecting rod 5 one end by the second revolute pair 4, first connecting rod 5 other end is connected with crossbeam 7 by the 3rd revolute pair 6, 3rd driving lever 9 one end is connected with frame 1 by the 5th revolute pair 8, the other end is connected with second connecting rod 11 one end by the 6th revolute pair 10, second connecting rod 11 other end is connected with crossbeam 7 by the 7th revolute pair 12, crossbeam 7 is connected on swing arm 14 by the 4th revolute pair 19.Second driving lever 3, the 3rd driving lever 9 are by the driven by servomotor be arranged in frame 1.
Contrast Fig. 1, Fig. 7, Fig. 8, described a kind of self-adjustable controllable-mechanism type miniature multiple degrees of freedom loader mechanism second driving lever the 3, the 3rd driving lever 9 velocity of rotation can require independent adjustment within the specific limits according to specific works, and scraper bowl overturns side chain, swing arm lifting side chain has cooperatively interacted loading operation.
Claims (2)
1. the miniature multiple degrees of freedom loader mechanism of self-adjustable controllable-mechanism type, comprises frame, swing arm, scraper bowl upset side chain, swing arm lifting side chain, scraper bowl, it is characterized in that:
Described swing arm one end is arranged in frame by the 8th revolute pair, the 9th revolute pair, and the other end is connected with scraper bowl by the 14 revolute pair, the 13 revolute pair,
Described scraper bowl upset side chain is made up of the first driving lever, third connecting rod, described first driving lever one end is connected with frame by the tenth revolute pair, the other end is connected with third connecting rod one end by the 11 revolute pair, and the third connecting rod other end is connected with scraper bowl by the 12 revolute pair
Described swing arm lifting side chain is made up of the second driving lever, the 3rd driving lever, first connecting rod, second connecting rod, crossbeam, second driving lever one end is connected in frame by the first revolute pair, the other end is connected with first connecting rod one end by the second revolute pair, the first connecting rod other end is connected with crossbeam by the 3rd revolute pair, 3rd driving lever one end is connected with frame by the 5th revolute pair, the other end is connected with second connecting rod one end by the 6th revolute pair, the second connecting rod other end is connected with crossbeam by the 7th revolute pair, and crossbeam is connected on swing arm by the 4th revolute pair.
2. the miniature multiple degrees of freedom loader mechanism of a kind of self-adjustable controllable-mechanism type according to claim 1, is characterized in that: the first driving lever, the second driving lever, the 3rd driving lever drive by rack-mounted servomotor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210583000.XA CN103015471B (en) | 2012-12-28 | 2012-12-28 | Self-adjusting controllable mechanism-type micro MDOF (multiple degrees of freedom) loading mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210583000.XA CN103015471B (en) | 2012-12-28 | 2012-12-28 | Self-adjusting controllable mechanism-type micro MDOF (multiple degrees of freedom) loading mechanism |
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| CN103015471A CN103015471A (en) | 2013-04-03 |
| CN103015471B true CN103015471B (en) | 2015-06-10 |
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| CN201210583000.XA Expired - Fee Related CN103015471B (en) | 2012-12-28 | 2012-12-28 | Self-adjusting controllable mechanism-type micro MDOF (multiple degrees of freedom) loading mechanism |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104153405A (en) * | 2013-12-13 | 2014-11-19 | 中北大学 | Hybrid drive controllable parallel-connection excavation mechanism |
| CN104552253A (en) * | 2014-12-23 | 2015-04-29 | 广西大学 | Six-freedom-degree controllable mechanism type movable welding robot |
| CN104552268A (en) * | 2014-12-23 | 2015-04-29 | 广西大学 | Six-freedom-degree rotation movable type welding robot |
| CN115142488A (en) * | 2021-03-31 | 2022-10-04 | 纳博特斯克有限公司 | Construction machine, drive system, and drive device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0232844A1 (en) * | 1986-02-07 | 1987-08-19 | Deere & Company | Front loader |
| DE10012389A1 (en) * | 2000-03-14 | 2001-09-27 | Orenstein & Koppel Ag | Working machine, e.g. front-end loader, has hydraulic functions connected according to their kinematics relationship stored in controller memory |
| CN101892680A (en) * | 2010-07-15 | 2010-11-24 | 广西大学 | Mechanical two-degree-of-freedom controllable loading machine |
| CN203008005U (en) * | 2012-12-28 | 2013-06-19 | 广西大学 | Self-adjusting type controlled mechanism type miniature multi-freedom-degree loading mechanism |
-
2012
- 2012-12-28 CN CN201210583000.XA patent/CN103015471B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0232844A1 (en) * | 1986-02-07 | 1987-08-19 | Deere & Company | Front loader |
| DE10012389A1 (en) * | 2000-03-14 | 2001-09-27 | Orenstein & Koppel Ag | Working machine, e.g. front-end loader, has hydraulic functions connected according to their kinematics relationship stored in controller memory |
| CN101892680A (en) * | 2010-07-15 | 2010-11-24 | 广西大学 | Mechanical two-degree-of-freedom controllable loading machine |
| CN203008005U (en) * | 2012-12-28 | 2013-06-19 | 广西大学 | Self-adjusting type controlled mechanism type miniature multi-freedom-degree loading mechanism |
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Granted publication date: 20150610 Termination date: 20161228 |